JP4506369B2 - Vehicle steering system - Google Patents

Vehicle steering system Download PDF

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JP4506369B2
JP4506369B2 JP2004269005A JP2004269005A JP4506369B2 JP 4506369 B2 JP4506369 B2 JP 4506369B2 JP 2004269005 A JP2004269005 A JP 2004269005A JP 2004269005 A JP2004269005 A JP 2004269005A JP 4506369 B2 JP4506369 B2 JP 4506369B2
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steering
steering angle
absolute
midpoint
angle
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JP2006082672A (en
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真吾 前田
真康 東
良平 葉山
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株式会社ジェイテクト
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Description

  The present invention includes a steering member, a steering mechanism that is mechanically separated from the steering member, a midpoint position when the steering member goes straight, and each N-rotation left and right from the midpoint position (N is a natural number) An absolute steering angle and a steering angle sensor detected by the rotary encoder, including a rotary encoder that detects an absolute steering angle from a midpoint position and a relative steering angle, and a steering angle sensor that detects a steering angle of a steering mechanism The present invention relates to a vehicle steering apparatus that drives and steers a steering motor so that the detected steering angles coincide.

Steering of a vehicle is performed by operating a steering member (generally a rotating operation of a steering wheel) performed by a driver inside a passenger compartment to steer a steering wheel (generally a front wheel). This is done by telling the steering mechanism located outside the room.
In recent years, as a steering device for performing such steering, a steering member inside the vehicle interior is arranged without mechanical connection with a steering mechanism outside the vehicle interior, and a steering device is installed in a part of the steering mechanism. The actuator is attached, and the actuator is operated based on the detection result of the operation direction and the operation amount of the steering member, and the steering force is applied to the steering mechanism to perform the steering according to the operation of the steering member. A separate vehicle steering apparatus has been proposed.
JP 2004-170185 A

In the separation type vehicle steering apparatus described above, it is important to detect the absolute steering angle (operation direction and operation amount) of the steering member, but an analog (voltage) signal having a value corresponding to the absolute steering angle of the steering member. When a potentiometer that outputs is used, there is a problem that the output fluctuates due to fluctuations in the power supply voltage or the like. Therefore, a digital rotary encoder that outputs the Z-phase pulse signal that indicates the midpoint position of the steering member and is output one pulse per rotation, and the number of pulse signals corresponding to the steering angle from the midpoint position is provided. It has been adopted.
In the case of a separation type steering device, when the power is turned off, the steering member is free to rotate without any restraint. Therefore, when the power is turned on, the middle position of the steering member and the steering mechanism It is necessary to match the point position.

  However, if the rotary encoder detects the steering angle of the steering member (handle), even if the rotary encoder detects the Z-phase pulse signal and detects the midpoint position of the steering member, FIG. As shown in (b), when the tire should be at the midpoint position, as shown in (b), the steering wheel is rotated once to the right, and when the tire should be near the right end position, as shown in (c), There is a problem that it is not possible to determine whether the tire should be in the vicinity of the left end position by rotating the steering wheel one turn.

It has also been proposed to detect the midpoint position of the steering member's absolute steering angle so that it matches the midpoint position of the tire, but it takes time to detect the midpoint position of the steering member's absolute steering angle. There is a problem that it takes.
Patent Document 1 includes a potentiometer and a rotary encoder that outputs a Z-phase pulse signal and a number of pulse signals corresponding to the steering angle from the midpoint position. There is disclosed a separation type steering apparatus that corrects an absolute steering angle detection error based on a change with time.

  The present invention has been made in view of the above-described circumstances, and is not affected by fluctuations in the power supply voltage, and quickly matches the absolute steering angle of the steering member and the steering angle of the tire at the time of startup. It is an object of the present invention to provide a separation type vehicle steering device that can be used.

According to a first aspect of the present invention, there is provided a vehicle steering apparatus including a steering member, a steering mechanism mechanically separated from the steering member, a midpoint position when the steering member travels straight, and left and right from the midpoint position. A rotary encoder that detects an absolute steering angle from each midpoint position rotated N times (N is a natural number) and a relative steering angle; and a steering angle sensor that detects a steering angle of the steering mechanism, the rotary encoder In the vehicle steering apparatus that drives and steers the steering motor so that the absolute steering angle detected by the steering angle sensor matches the steering angle detected by the steering angle sensor, a voltage signal corresponding to the absolute steering angle of the steering member is generated. An absolute steering angle sensor to be output; means for determining which midpoint position is based on a voltage signal output by the absolute steering angle sensor when the rotary encoder detects a midpoint position; Midpoint determined by Location, and based on the steering angle of the steering mechanism corresponding to the middle point position, and correcting means for middle point of the center point position and the steering angle of the absolute steering angle to correct the steering angle to match And means for storing the relationship between the absolute steering angle and the steering angle corrected by the correction means.

The vehicle steering apparatus according to a second aspect of the invention is characterized in that the absolute steering angle sensor is a potentiometer, and the absolute steering angle sensor is stopped after correction by the correction means. .

According to the vehicle steering apparatus of the first aspect of the present invention, the separation type that is not affected by fluctuations in the power supply voltage or the like and that can quickly match the absolute steering angle of the steering member and the steering angle of the tire at the time of startup. The vehicle steering device can be realized.
According to the vehicle steering apparatus of the second aspect of the present invention, the power consumption is small, the power supply voltage is not affected by fluctuations, and the absolute steering angle of the steering member and the steering angle of the tire are quickly matched at the time of activation. It is possible to realize a separate type vehicle steering apparatus that can be used.

Hereinafter, the present invention will be described with reference to the drawings illustrating embodiments thereof.
FIG. 1 is an explanatory diagram showing a configuration of an embodiment of a vehicle steering apparatus according to the present invention. The steering device includes a steering mechanism 1 for steering left and right front wheels 10, a steering wheel 2 that is a steering member mechanically separated from the steering mechanism 1, and an operation of the steering wheel 2. And a steering control unit 3 that performs a predetermined control operation so as to operate the steering mechanism 1 according to the above.

  The steering mechanism 1 is a well-known rack and pinion type steering mechanism. The steering shaft (rack shaft) 11 that extends in the left-right direction of the vehicle body and moves in the axial length direction is connected to both ends of the steering wheel 10 and the knuckle of the front wheels 10 and 10. The arms 12 and 12 are connected by separate tie rods 13 and 13, and the knuckle arms 12 and 12 are pushed and pulled through the tie rods 13 and 13 by moving the steering shaft 11 in both directions, and the front wheels 10 and 10 are steered left and right. It is the composition which makes it.

This steering apparatus includes a steering motor M1 for performing the above-described steering. The steering motor M1 is attached to the outside of the middle part of the cylindrical housing H1 that supports the steering shaft 11, and the steering of the front wheels 10, 10 transmits the rotation of the steering motor M1 to the steering shaft 11 by transmission means. 11 is moved in the axial direction.
The steering motor M1 is flange-fixed to the opening end of a cylindrical motor bracket 14 that is obliquely crossed and connected to the middle portion of the housing H1. The output shaft of the steering motor M1 extends coaxially within the motor bracket 14, that is, obliquely with respect to the axis of the housing H1 and the steering shaft 11, and is not shown at the tip of the output shaft. A small bevel gear is fitted and fixed.

  Inside the housing H1, a cylindrical ball nut (not shown) is rotatably supported coaxially with the steering shaft 11 by a pair of ball bearings fitted on both sides of the connecting portion of the motor bracket 14. . A large bevel gear (not shown) is integrally formed on the outer peripheral surface of the ball nut. The large bevel gear is meshed with a small bevel gear fitted and fixed to the output shaft of the steering motor M1, and the small bevel gear is used to A gear mechanism is configured.

  When the steering motor M1 is rotationally driven by the above configuration, this rotation is transmitted to the ball nut via the bevel gear mechanism, and the ball nut rotates about its axis. This rotation is converted into movement in the axial direction of the steering shaft 11, and the front wheels 10, 10 are steered in accordance with this movement.

  The steering motor M1 is driven and controlled in accordance with an operation command from the steering control unit 3. The amount of operation of the steering mechanism 1 according to this drive, that is, the actual steering angle of the left and right front wheels 10, 10 is, for example, a tie rod displacement sensor that detects the displacement of the connecting portion between the rack shaft 11 and one tie rod 13 16 (steering angle sensor) and detected by the steering control unit 3. Further, tie rod axial force sensors 17 and 17 for detecting an axial force acting in the axial direction are attached to the tie rods 13 and 13 on both sides of the rack shaft 11, and these detection results are obtained with steering. A signal indicating the road surface reaction force applied to the left and right front wheels 10 is provided to the steering control unit 3.

  The steering wheel 2 mechanically separated from the steering mechanism 1 is fixed to the upper end of a column shaft 20 that is rotatably supported by the column housing H2. The column housing H2 is fixedly supported by a part of a vehicle body (not shown), and a reaction force motor M2 is attached. The reaction force motor M2 is configured to transmit to the column shaft 20 inside the column housing H2, and the column shaft 20 and the steering wheel 2 are driven by a reaction force motor M2 driven in accordance with an operation command from the steering control unit 3. The rotational force is applied as a reaction force opposite to the direction of the rotational operation of the steering wheel 2 for steering.

  The steering torque applied to the steering wheel 2 against the reaction force as described above is detected by the torque sensor 21 attached to the middle portion of the column housing H2. Further, the operation amount of the steering wheel 2 is detected by a rotary encoder 22 and a potentiometer 24 which are steering angle sensors arranged on one side of the torque sensor 21, and these detection results are given to the steering control unit 3. Yes. Further, a signal indicating the vehicle speed detected by the vehicle speed sensor 23 is given to the input side of the steering control unit 3.

The rotary encoder 22 outputs an A-phase pulse signal having the number of pulses corresponding to the change in the steering angle, and a B-phase pulse signal whose phase (for example, 1/4 cycle) is shifted from the A-phase pulse signal. A Z-phase pulse signal indicating the midpoint position is output every (360 degrees). The steering control unit 3 determines the steering direction of the steering wheel 2 based on the phase advance / delay relationship of the A-phase pulse signal and the B-phase pulse signal.
As shown in the characteristic diagram of FIG. 4, the potentiometer 24 outputs a voltage signal of, for example, 0 to 5 V corresponding to the absolute steering angle of the steering wheel 2 (steering wheel).

Hereinafter, the operation of the vehicle steering apparatus having such a configuration will be described with reference to the flowchart shown in FIG.
The steering motor M1 is controlled by the steering control unit 3 by, for example, multiplying the operation amount of the steering wheel 2 detected by the rotary encoder 22 by a proportional gain to obtain a target rudder angle, and by using the target rudder angle and the tie rod displacement sensor 16. This is performed by feedback control based on the deviation from the detected actual steering angle of the left and right front wheels 10 and 10.

The steering control unit 3 performs a midpoint correction operation when an ignition key (not shown) is operated and the power is turned on. First, it is determined whether or not the Z-phase pulse signal output by the rotary encoder 22 has been detected (S2), and if not detected, the process returns.
When the steering control unit 3 detects the Z-phase pulse signal output from the rotary encoder 22 (S2), it reads the voltage signal Vp of the potentiometer (P / M) 24 (S4), and the read voltage signal Vp is, for example, 2.4. It is determined whether it is in the range of ~ 2.6V (S6).

  If the read voltage signal Vp is in the range of 2.4 to 2.6 V (S6), the steering control unit 3 determines that the steering wheel 2 (steering wheel) and the tire are at the midpoint as shown in FIG. It is determined that it is in the position (S8), and if necessary, the tire is moved to correct the steering angle and the steering angle of the tire (S9). Next, after storing the relationship between the corrected steering angle of the steering wheel 2 and the steering angle of the tire (S10), the potentiometer (P / M) 24 is stopped (S11) and the process returns.

If the read voltage signal Vp is not in the range of 2.4 to 2.6 V (S6), the steering control unit 3 determines whether or not the voltage signal Vp is in the range of 3.7 to 3.8 V, for example. (S12). If the voltage signal Vp is in the range of 3.7 to 3.8V, as shown in FIG. 3B, the steering wheel 2 has made one turn to the right, and the midpoint position where the tire should be near the right end position. (S14), the tire is moved, and the steering angle is matched with the steering angle of the tire (S9).
Next, the steering control unit 3 stores the relationship between the corrected steering angle of the steering wheel 2 and the steering angle of the tire (S10), then stops the potentiometer (P / M) 24 (S11) and returns. .

If the read voltage signal Vp is not in the range of 3.7 to 3.8 V (S12), the steering control unit 3 determines whether or not the voltage signal Vp is in the range of 1.2 to 1.3 V, for example. (S16). If the voltage signal Vp is in the range of 1.2 to 1.3 V, as shown in FIG. 3C, the steering wheel 2 has made one turn to the left, and the midpoint position where the tire should be near the left end position. Is determined (S18), and the tire is moved to correct the steering angle and the steering angle of the tire (S9).
Next, the steering control unit 3 stores the relationship between the corrected steering angle of the steering wheel 2 and the steering angle of the tire (S10), then stops the potentiometer (P / M) 24 (S11) and returns. . If the voltage signal Vp is not in the range of 1.2 to 1.3 V (S16), the process returns.

It is explanatory drawing which shows the structure of embodiment of the steering apparatus for vehicles which concerns on this invention. It is a flowchart which shows operation | movement of embodiment of the steering apparatus for vehicles which concerns on this invention. It is explanatory drawing which shows operation | movement of embodiment of the steering apparatus for vehicles which concerns on this invention. It is a characteristic view which shows the characteristic of a potentiometer.

Explanation of symbols

1 Steering mechanism 2 Steering wheel (steering member)
3 Steering control unit 10 Front wheel 11 Steering shaft (rack shaft)
12 Knuckle arm 13 Tie rod 16 Tie rod displacement sensor (steering angle sensor)
20 Column shaft 21 Torque sensor 22 Rotary encoder 24 Potentiometer (absolute steering angle sensor)
H2 Column housing M1 Steering motor M2 Reaction force motor

Claims (2)

  1. Steering member, steering mechanism mechanically separated from the steering member, midpoint position of the steering member when traveling straight, and each midpoint rotated N times left and right from the midpoint position (N is a natural number) A rotary encoder that detects an absolute steering angle from a position and a relative steering angle; and a steering angle sensor that detects a steering angle of the steering mechanism; the absolute steering angle detected by the rotary encoder; and the steering angle In a vehicle steering apparatus that drives and steers a steering motor so that the steering angles detected by the sensors match,
    Based on the absolute steering angle sensor that outputs a voltage signal corresponding to the absolute steering angle of the steering member and the voltage signal output by the absolute steering angle sensor when the rotary encoder detects the midpoint position, Based on the means for determining whether the position is a point, the midpoint position determined by the means, and the steering angle of the steering mechanism corresponding to the midpoint position, the midpoint position and the steering angle of the absolute steering angle A vehicle steering apparatus, comprising: a correction unit that corrects the rudder angle so that the midpoint positions thereof coincide with each other; and a unit that stores a relationship between the absolute steering angle and the rudder angle corrected by the correction unit. .
  2. 2. The vehicle steering apparatus according to claim 1, wherein the absolute steering angle sensor is a potentiometer, and is configured to stop the absolute steering angle sensor after the correction unit corrects the absolute steering angle sensor .
JP2004269005A 2004-09-15 2004-09-15 Vehicle steering system Active JP4506369B2 (en)

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JP2004269005A JP4506369B2 (en) 2004-09-15 2004-09-15 Vehicle steering system

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Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5139700B2 (en) * 2007-03-07 2013-02-06 本田技研工業株式会社 Vehicle steering system
JP6030872B2 (en) * 2012-07-10 2016-11-24 アスモ株式会社 Wiper device
JP6286510B2 (en) * 2016-10-20 2018-02-28 アスモ株式会社 Wiper device
JP6555367B2 (en) * 2018-02-05 2019-08-07 株式会社デンソー Wiper device

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01172057A (en) * 1987-12-26 1989-07-06 Honda Motor Co Ltd Car steering device
JP2004051094A (en) * 2002-07-22 2004-02-19 Visteon Global Technologies Inc Initialization method for steering wheel for steer bi-wire system
JP2004170185A (en) * 2002-11-19 2004-06-17 Koyo Seiko Co Ltd Steering angle compensation device
JP2004224234A (en) * 2003-01-23 2004-08-12 Koyo Seiko Co Ltd Steering gear for vehicle
JP2004291854A (en) * 2003-03-27 2004-10-21 Mitsuba Corp Vehicular steering device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01172057A (en) * 1987-12-26 1989-07-06 Honda Motor Co Ltd Car steering device
JP2004051094A (en) * 2002-07-22 2004-02-19 Visteon Global Technologies Inc Initialization method for steering wheel for steer bi-wire system
JP2004170185A (en) * 2002-11-19 2004-06-17 Koyo Seiko Co Ltd Steering angle compensation device
JP2004224234A (en) * 2003-01-23 2004-08-12 Koyo Seiko Co Ltd Steering gear for vehicle
JP2004291854A (en) * 2003-03-27 2004-10-21 Mitsuba Corp Vehicular steering device

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